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AP_NavEKF2: Tuning changes to make attitude less sensitive to GPS and compass errors

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Paul Riseborough 2015-11-15 00:41:14 +11:00 committed by Andrew Tridgell
parent 3549c717db
commit 0562529729
1 changed files with 10 additions and 10 deletions
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20
libraries/AP_NavEKF2/AP_NavEKF2.cpp
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@ -19,12 +19,12 @@
#define POSNE_NOISE_DEFAULT 1.0f
#define ALT_NOISE_DEFAULT 5.0f
#define MAG_NOISE_DEFAULT 0.05f
#define GYRO_PNOISE_DEFAULT 0.005f
#define GYRO_PNOISE_DEFAULT 0.001f
#define ACC_PNOISE_DEFAULT 0.25f
#define GBIAS_PNOISE_DEFAULT 7.0E-05f
#define ABIAS_PNOISE_DEFAULT 1.0E-04f
#define MAG_PNOISE_DEFAULT 2.5E-02f
#define VEL_GATE_DEFAULT 3
#define VEL_GATE_DEFAULT 2
#define POS_GATE_DEFAULT 3
#define HGT_GATE_DEFAULT 3
#define MAG_GATE_DEFAULT 3
@ -43,12 +43,12 @@
#define POSNE_NOISE_DEFAULT 1.0f
#define ALT_NOISE_DEFAULT 2.0f
#define MAG_NOISE_DEFAULT 0.05f
#define GYRO_PNOISE_DEFAULT 0.005f
#define GYRO_PNOISE_DEFAULT 0.001f
#define ACC_PNOISE_DEFAULT 0.25f
#define GBIAS_PNOISE_DEFAULT 7.0E-05f
#define ABIAS_PNOISE_DEFAULT 1.0E-04f
#define MAG_PNOISE_DEFAULT 2.5E-02f
#define VEL_GATE_DEFAULT 3
#define VEL_GATE_DEFAULT 2
#define POS_GATE_DEFAULT 3
#define HGT_GATE_DEFAULT 3
#define MAG_GATE_DEFAULT 3
@ -67,15 +67,15 @@
#define POSNE_NOISE_DEFAULT 1.0f
#define ALT_NOISE_DEFAULT 5.0f
#define MAG_NOISE_DEFAULT 0.05f
#define GYRO_PNOISE_DEFAULT 0.005f
#define GYRO_PNOISE_DEFAULT 0.001f
#define ACC_PNOISE_DEFAULT 0.25f
#define GBIAS_PNOISE_DEFAULT 7.0E-05f
#define ABIAS_PNOISE_DEFAULT 1.0E-04f
#define MAG_PNOISE_DEFAULT 2.5E-02f
#define VEL_GATE_DEFAULT 5
#define POS_GATE_DEFAULT 5
#define VEL_GATE_DEFAULT 2
#define POS_GATE_DEFAULT 3
#define HGT_GATE_DEFAULT 4
#define MAG_GATE_DEFAULT 3
#define MAG_GATE_DEFAULT 2
#define MAG_CAL_DEFAULT 0
#define GLITCH_RADIUS_DEFAULT 25
#define FLOW_MEAS_DELAY 10
@ -91,12 +91,12 @@
#define POSNE_NOISE_DEFAULT 1.0f
#define ALT_NOISE_DEFAULT 5.0f
#define MAG_NOISE_DEFAULT 0.05f
#define GYRO_PNOISE_DEFAULT 0.005f
#define GYRO_PNOISE_DEFAULT 0.001f
#define ACC_PNOISE_DEFAULT 0.25f
#define GBIAS_PNOISE_DEFAULT 7.0E-05f
#define ABIAS_PNOISE_DEFAULT 1.0E-04f
#define MAG_PNOISE_DEFAULT 2.5E-02f
#define VEL_GATE_DEFAULT 3
#define VEL_GATE_DEFAULT 2
#define POS_GATE_DEFAULT 3
#define HGT_GATE_DEFAULT 3
#define MAG_GATE_DEFAULT 3